All you have to do is to use if statement correctly in your code:
<?php if (get_field('youtube_video_1')) : ?>
<!-- Media/YouTube Video Section -->
<div class="resourcespdf">
<h2 class="customresourcespdf">Media</h2>
</div>
<div class="embed-containerone">
<?php the_field('youtube_video_1'); ?>
</div>
<?php endif; ?>